相关论文: SAGE: Bridging Semantic and Actionable Parts for G…

We address the challenge of generating 3D articulated objects in a controllable fashion. Currently, modeling articulated 3D objects is either achieved through laborious manual authoring, or using methods from prior work that are hard to…

Successfully solving long-horizon manipulation tasks remains a fundamental challenge. These tasks involve extended action sequences and complex object interactions, presenting a critical gap between high-level symbolic planning and…

Large language models (LLMs) have achieved remarkable progress, yet their internal mechanisms remain largely opaque, posing a significant challenge to their safe and reliable deployment. Sparse autoencoders (SAEs) have emerged as a…

The common sense reasoning abilities and vast general knowledge of Large Language Models (LLMs) make them a natural fit for interpreting user requests in a Smart Home assistant context. LLMs, however, lack specific knowledge about the user…

We present SAGA, a versatile and adaptive framework for visuomotor control that can generalize across various environments, task objectives, and user specifications. To efficiently learn such capability, our key idea is to disentangle…

Articulated objects like cabinets and doors are widespread in daily life. However, directly manipulating 3D articulated objects is challenging because they have diverse geometrical shapes, semantic categories, and kinetic constraints. Prior…

Domain generalization for semantic segmentation aims to mitigate the degradation in model performance caused by domain shifts. However, in many real-world scenarios, we are unable to access the model parameters and architectural details due…

Large language models (LLMs) have proven to work well in question-answering scenarios, but real-world applications often require access to tools for live information or actuation. For this, LLMs can be extended with tools, which are often…

Active perception and manipulation are crucial for robots to interact with complex scenes. Existing methods struggle to unify semantic-driven active perception with robust, viewpoint-invariant execution. We propose SaPaVe, an end-to-end…

Articulated objects (e.g., doors and drawers) exist everywhere in our life. Different from rigid objects, articulated objects have higher degrees of freedom and are rich in geometries, semantics, and part functions. Modeling different kinds…

Real-world data collection for embodied agents remains costly and unsafe, calling for scalable, realistic, and simulator-ready 3D environments. However, existing scene-generation systems often rely on rule-based or task-specific pipelines,…

The development of Large Language Models (LLMs) has catalyzed automation in customer service, yet benchmarking their performance remains challenging. Existing benchmarks predominantly rely on static paradigms and single-dimensional metrics,…

Large language models (LLMs) can generate syntactically valid optimization programs, yet often struggle to reliably choose an effective modeling strategy, leading to incorrect formulations and inefficient solver behavior. We propose SAGE, a…

Evaluating relevance in large-scale search systems is fundamentally constrained by the governance gap between nuanced, resource-constrained human oversight and the high-throughput requirements of production systems. While traditional…

Legged manipulators offer high mobility and versatile manipulation. However, robust interaction with heterogeneous articulated objects, such as doors, drawers, and cabinets, remains challenging because of the diverse articulation types of…

We present Semantic-Aware Guided Exploration, SAGE, a system for open-vocabulary exploration in unknown 3D indoor environments that preserves coverage-oriented behavior while allowing semantic cues to reprioritize frontier selection.…

Video transitions aim to synthesize intermediate frames between two clips, but naive approaches such as linear blending introduce artifacts that limit professional use or break temporal coherence. Traditional techniques (cross-fades,…

Model-based reinforcement learning algorithms are typically more sample efficient than their model-free counterparts, especially in sparse reward problems. Unfortunately, many interesting domains are too complex to specify the complete…

We introduce SAGE; a Generative LLM for inferring attribute values for products across world-wide e-Commerce catalogs. We introduce a novel formulation of the attribute-value prediction problem as a Seq2Seq summarization task, across…

Articulated objects pose diverse manipulation challenges for robots. Since their internal structures are not directly observable, robots must adaptively explore and refine actions to generate successful manipulation trajectories. While…